I’ve been working on a VEX IQ based quadruped. It can now lift itself up, which is no small feat, considering it weighs about 1500 grams. It has 8 motors, two for each leg.
The code for zeroing out the motors still needs a bit of work because it doesn’t give me consistent enough results. I do love being able to use the setMotorStrength() function to make stall detection (and therefore end position) very easy. I am using ROBOTC 4.06 for VEX IQ.
You can watch a video of it doing its leg thing here: http://www.youtube.com/watch?v=g7uF0Q-Rlt0. The sound volume is quite low, sorry about that.